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<div class="title">test_footswing.cpp</div>  </div>
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<a href="../../d0/d6d/test__footswing_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d9/d40/_foot_swing_trajectory_8h.html">include/Controllers/FootSwingTrajectory.h</a>&gt;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../de/dda/_math_utilities_8h.html">Math/MathUtilities.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;gmock/gmock.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;gtest/gtest.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="../../d0/d6d/test__footswing_8cpp.html#ac33b9db6ebde39d89976625dd37a2dbf">    8</a></span>&#160;<a class="code" href="../../d0/d6d/test__footswing_8cpp.html#ac33b9db6ebde39d89976625dd37a2dbf">TEST</a>(FootSwing, fstest) {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory&lt;double&gt;</a> traj;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> p0(1,1,1);</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">setInitialPosition</a>(p0);</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> pf(2,2,1.2);</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">setFinalPosition</a>(pf);</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">setHeight</a>(1);</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="comment">// initial</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a>(0, 0.5);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(p0, traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a>(), 0.001));</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="comment">// midpoint</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a>(0.5, 0.5);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> pMid = (p0 + pf)/2;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  pMid[2] = 2;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(pMid, traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a>(), 0.0001));</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// final</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a>(1, 0.5);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(pf, traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a>(), 0.00001));</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../d0/d6d/test__footswing_8cpp.html#a6780397c6a1f7b564cc04a2816858420">   35</a></span>&#160;<a class="code" href="../../d0/d6d/test__footswing_8cpp.html#ac33b9db6ebde39d89976625dd37a2dbf">TEST</a>(FootSwing, fsderiv) {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory&lt;double&gt;</a> traj;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> _p0(1,1,1);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">setInitialPosition</a>(_p0);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> pf(2,2,1.2);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">setFinalPosition</a>(pf);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">setHeight</a>(1);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// velocity/acceleration:</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">double</span> phasePerSecond = 2.; <span class="comment">// 0.5 second swing.</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">double</span> t0 = 0.27;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">double</span> dt = 0.001;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">double</span> t1 = t0 + dt;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">double</span> ph0 = t0 * phasePerSecond;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">double</span> ph1 = t1 * phasePerSecond;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a>(ph0, 0.5);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">auto</span> p0 = traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a>();</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">auto</span> v0 = traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">getVelocity</a>();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">auto</span> a0 = traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">getAcceleration</a>();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a>(ph1, 0.5);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">auto</span> p1 = traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a>();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">auto</span> v1 = traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">getVelocity</a>();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">auto</span> a1 = traj.<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">getAcceleration</a>();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> vdiff = (p1 - p0) / dt;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> vref = (v0 + v1) / 2;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> adiff = (v1 - v0) / dt;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> aref = (a0 + a1) / 2;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(adiff, aref, 0.001));</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(vdiff, vref, 0.001));</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div><div class="ttc" id="class_foot_swing_trajectory_html_a25c0e8076ce29ac9a69825e8e67cbe31"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">FootSwingTrajectory::getAcceleration</a></div><div class="ttdeci">Vec3&lt; T &gt; getAcceleration()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00045">FootSwingTrajectory.h:45</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a88b371a6a4c19f474ddda15a5c5f2607"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">FootSwingTrajectory::setInitialPosition</a></div><div class="ttdeci">void setInitialPosition(Vec3&lt; T &gt; p0)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00023">FootSwingTrajectory.h:23</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a14fc41b61b779b60355439d796cc7616"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">FootSwingTrajectory::getVelocity</a></div><div class="ttdeci">Vec3&lt; T &gt; getVelocity()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00041">FootSwingTrajectory.h:41</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a3c34c869e91d99add45184522a6ec37e"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">FootSwingTrajectory::computeSwingTrajectoryBezier</a></div><div class="ttdeci">void computeSwingTrajectoryBezier(T phase, T swingTime)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dff/_foot_swing_trajectory_8cpp_source.html#l00011">FootSwingTrajectory.cpp:11</a></div></div>
<div class="ttc" id="_math_utilities_8h_html"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html">MathUtilities.h</a></div><div class="ttdoc">Utility functions for math. </div></div>
<div class="ttc" id="class_foot_swing_trajectory_html"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00012">FootSwingTrajectory.h:12</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a1414ee26c5b7eb04fc6848e78fef0432"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">FootSwingTrajectory::getPosition</a></div><div class="ttdeci">Vec3&lt; T &gt; getPosition()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00037">FootSwingTrajectory.h:37</a></div></div>
<div class="ttc" id="test__footswing_8cpp_html_ac33b9db6ebde39d89976625dd37a2dbf"><div class="ttname"><a href="../../d0/d6d/test__footswing_8cpp.html#ac33b9db6ebde39d89976625dd37a2dbf">TEST</a></div><div class="ttdeci">TEST(FootSwing, fstest)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6d/test__footswing_8cpp_source.html#l00008">test_footswing.cpp:8</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_aa95fc7baab3e68c0724895e558e4bd59"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">FootSwingTrajectory::setHeight</a></div><div class="ttdeci">void setHeight(T h)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00031">FootSwingTrajectory.h:31</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a4b2122976e13c7facfad869d7aea6297"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">FootSwingTrajectory::setFinalPosition</a></div><div class="ttdeci">void setFinalPosition(Vec3&lt; T &gt; pf)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00027">FootSwingTrajectory.h:27</a></div></div>
<div class="ttc" id="_foot_swing_trajectory_8h_html"><div class="ttname"><a href="../../d9/d40/_foot_swing_trajectory_8h.html">FootSwingTrajectory.h</a></div></div>
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